Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Authors:
J. Estremera;J. A. Cobano;P. Gonzalez de Santos
Affiliations:
Department of Automatic Control, Institute of Industrial Automation - CSIC Ctra. Campo Real, Km 0,200 28500 Arganda del Rey, Madrid, Spain;Department of Automatic Control, Institute of Industrial Automation - CSIC Ctra. Campo Real, Km 0,200 28500 Arganda del Rey, Madrid, Spain;Department of Automatic Control, Institute of Industrial Automation - CSIC Ctra. Campo Real, Km 0,200 28500 Arganda del Rey, Madrid, Spain
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.